OpenRaiser/Intern-Atlas huggingface dataset:
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
Venue: arXiv cs.RO 2026
Year: 2026

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation, transferring policies to the real world is hampered by various simulation and real domain gaps. In this work, we propose a unified sim-and-real co-training framework for learning generalizable manipulation policies that primarily leverages simulation and only requires a few real-world demonstrations. Central to our approach is learning a domain-invariant, task-relevant feature space. Our key insight is that aligning the joint distributions of observations and their corresponding actions across domains provides a richer signal than aligning observations (marginals) alone. We achieve this by embedding an Optimal Transport (OT)-inspired loss within the co-training framework, and extend this to an Unbalanced OT framework to handle the imbalance between abundant simulation data and limited real-world examples. We validate our method on challenging manipulation tasks, showing it can leverage abundant simulation data to achieve up to a 30% improvement in the real-world success rate and even generalize to scenarios seen only in simulation. Project webpage: https://ot-sim2real.github.io/.
Tackling GNARLy Problems: Graph Neural Algorithmic Reasoning Reimagined through Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Neural Algorithmic Reasoning (NAR) is a paradigm that trains neural networks to execute classic algorithms by supervised learning. Despite its successes, important limitations remain: inability to construct valid solutions without post-processing and to reason about multiple correct ones, poor performance on combinatorial NP-hard problems, and inapplicability to problems for which strong algorithms are not yet known. To address these limitations, we reframe the problem of learning algorithm trajectories as a Markov Decision Process, which imposes structure on the solution construction procedure and unlocks the powerful tools of imitation and reinforcement learning (RL). We propose the GNARL framework, encompassing the methodology to translate problem formulations from NAR to RL and a learning architecture suitable for a wide range of graph-based problems. We achieve very high graph accuracy results on several CLRS-30 problems, performance matching or exceeding much narrower NAR approaches for NP-hard problems and, remarkably, applicability even when lacking an expert algorithm.
LLMs as verification oracles for Solidity
Venue: arXiv cs.CR 2026
Year: 2026

Ensuring the correctness of smart contracts is critical, as even subtle flaws can lead to severe financial losses. While bug detection tools able to spot common vulnerability patterns can serve as a first line of defense, most real-world exploits and losses stem from errors in the contract business logic. Formal verification tools such as SolCMC and the Certora Prover address this challenge, but their impact remains limited by steep learning curves and restricted specification languages. Recent works have begun to explore the use of large language models (LLMs) for security-related tasks such as vulnerability detection and test generation. Yet, a fundamental question remains open: can LLMs aid in assessing the validity of arbitrary contract-specific properties? In this paper, we provide the first systematic empirical evaluation of GPT-5, a state-of-the-art reasoning LLM, in this role. We benchmark its performance on a large dataset of verification tasks, compare its outputs against those of established formal verification tools, and assess its practical effectiveness in real-world auditing scenarios. Our study combines quantitative metrics with qualitative analysis, and shows that recent reasoning-oriented LLMs - although lacking soundness guarantees - can be surprisingly effective at predicting the (in)validity of complex properties, suggesting a new frontier in the convergence of AI and formal methods for secure smart contract development and auditing.
Measuring AI "Slop" in Text
Venue: arXiv cs.CL 2026
Year: 2026

AI "slop" is an increasingly popular term used to describe low-quality AI-generated text, but there is currently no agreed upon definition of this term nor a means to measure its occurrence. In this work, we develop a taxonomy of "slop" through interviews with experts in NLP, writing, and philosophy, and propose a set of interpretable dimensions for its assessment in text. Through span-level annotation, we find that binary "slop" judgments are (somewhat) subjective, but such determinations nonetheless correlate with latent dimensions such as coherence and relevance. Our framework can be used to evaluate AI-generated text in both detection and binary preference tasks, potentially offering new insights into the linguistic and stylistic factors that contribute to quality judgments.
TimeMosaic: Temporal Heterogeneity Guided Time Series Forecasting via Adaptive Granularity Patch and Segment-wise Decoding
Venue: arXiv cs.LG 2026
Year: 2026

Multivariate time series forecasting is essential in domains such as finance, transportation, climate, and energy. However, existing patch-based methods typically adopt fixed-length segmentation, overlooking the heterogeneity of local temporal dynamics and the decoding heterogeneity of forecasting. Such designs lose details in information-dense regions, introduce redundancy in stable segments, and fail to capture the distinct complexities of short-term and long-term horizons. We propose TimeMosaic, a forecasting framework that aims to address temporal heterogeneity. TimeMosaic employs adaptive patch embedding to dynamically adjust granularity according to local information density, balancing motif reuse with structural clarity while preserving temporal continuity. In addition, it introduces segment-wise decoding that treats each prediction horizon as a related subtask and adapts to horizon-specific difficulty and information requirements, rather than applying a single uniform decoder. Extensive evaluations on benchmark datasets demonstrate that TimeMosaic delivers consistent improvements over existing methods, and our model trained on the large-scale corpus with 321 billion observations achieves performance competitive with state-of-the-art TSFMs.
MusiCRS: Benchmarking Audio-Centric Conversational Recommendation
Venue: arXiv cs.SD 2026
Year: 2026

Conversational recommendation has advanced rapidly with large language models (LLMs), yet music remains a uniquely challenging domain in which effective recommendations require reasoning over audio content beyond what text or metadata can capture. We present MusiCRS, the first benchmark for audio-centric conversational recommendation that links authentic user conversations from Reddit with corresponding tracks. MusiCRS includes 477 high-quality conversations spanning diverse genres (classical, hip-hop, electronic, metal, pop, indie, jazz), with 3,589 unique musical entities and audio grounding via YouTube links. MusiCRS supports evaluation under three input modality configurations: audio-only, query-only, and audio+query, allowing systematic comparison of audio-LLMs, retrieval models, and traditional approaches. Our experiments reveal that current systems struggle with cross-modal integration, with optimal performance frequently occurring in single-modality settings rather than multimodal configurations. This highlights fundamental limitations in cross-modal knowledge integration, as models excel at dialogue semantics but struggle when grounding abstract musical concepts in audio. To facilitate progress, we release the MusiCRS dataset (https://huggingface.co/datasets/rohan2810/MusiCRS), evaluation code (https://github.com/rohan2810/musiCRS), and comprehensive baselines.
Revisiting Performance Claims for Chest X-Ray Models Using Clinical Context
Venue: arXiv cs.LG 2026
Year: 2026

Public datasets of Chest X-Rays (CXRs) have long been a popular benchmark for developing machine learning (ML) computer vision models in healthcare. However, the reported strong average-case performance of these models do not necessarily reflect their actual utility when used in heterogeneous clinical settings, potentially masking weaker performance in medically significant scenarios. In this work we use clinical context to provide a more holistic evaluation of current "state-of-the-art" (SOTA) models for CXR diagnosis. In particular, we use discharge summaries, recorded prior to each CXR, to derive a "pre-CXR" probability of each CXR label, as a proxy for existing contextual knowledge available to clinicians when interpreting CXRs. We use this measure to probe model performance along two dimensions: First, using a stratified analysis, we show that models tend to have lower performance (as measured by AUROC and other metrics) among individuals with higher pre-CXR probability. Second, by controlling for pre-CXR probability via matching and re-weighting, we demonstrate that performance degrades when the correlation is broken between prior context and the current CXR label, suggesting that model performance may depend in part on inference of pre-CXR clinical context.
Frictional Q-Learning
Venue: arXiv cs.LG 2026
Year: 2026

Off-policy reinforcement learning suffers from extrapolation errors when a learned policy selects actions that are weakly supported in the replay buffer. In this study, we address this issue by drawing an analogy to static friction in classical mechanics. From this perspective, the replay buffer is represented as a smooth, low-dimensional action manifold, where the support directions correspond to the tangential component, while the normal component captures the dominant first-order extrapolation error. This decomposition reveals an intrinsic anisotropy in value sensitivity that naturally induces a stability condition analogous to a friction threshold. To mitigate deviations toward unsupported actions, we propose Frictional Q-Learning, an off-policy algorithm that encodes supported actions as tangent directions using a contrastive variational autoencoder. We further show that an orthonormal basis of the orthogonal complement corresponds to normal components under mild local isometry assumptions. Empirical results on standard continuous-control benchmarks demonstrate robust, stable performance compared with existing baselines.
Analysis of approximate linear programming solution to Markov decision problem with log barrier function
Venue: arXiv cs.AI 2026
Year: 2026

There are two primary approaches to solving Markov decision problems (MDPs): dynamic programming based on the Bellman equation and linear programming (LP). Dynamic programming methods are the most widely used and form the foundation of both classical and modern reinforcement learning (RL). By contrast, LP-based methods have been less commonly employed, although they have recently gained attention in contexts such as offline RL. The relative underuse of the LP-based methods stems from the fact that it leads to an inequality-constrained optimization problem, which is generally more challenging to solve effectively compared with Bellman-equation-based methods. The purpose of this paper is to establish a theoretical foundation for solving LP-based MDPs in a more effective and practical manner. Our key idea is to leverage the log-barrier function, widely used in inequality-constrained optimization, to transform the LP formulation of the MDP into an unconstrained optimization problem. This reformulation enables approximate solutions to be obtained easily via gradient descent. While the method may appear simple, to the best of our knowledge, a thorough theoretical interpretation of this approach has not yet been developed. This paper aims to bridge this gap.
Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
Venue: arXiv cs.RO 2026
Year: 2026

Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic map that accurately reflects the current state of the environment. Existing research on semantic exploration largely focuses on static scenes without persistent object-level instance tracking. In this work, we propose an open-vocabulary, semantic exploration system for semi-static environments. Our system maintains a consistent map by building a probabilistic model of object instance stationarity, systematically tracking semi-static changes, and actively exploring areas that have not been visited for an extended period. In addition to active map maintenance, our approach leverages the map's semantic richness with large language model (LLM)-based reasoning for open-vocabulary object-goal navigation. This enables the robot to search more efficiently by prioritizing contextually relevant areas. We compare our approach against state-of-the-art baselines using publicly available object navigation and mapping datasets, and we further demonstrate real-world transferability in three real-world environments. Our approach outperforms the compared baselines in both success rate and search efficiency for object-navigation tasks and can more reliably handle changes in mapping semi-static environments. In real-world experiments, our system detects 95% of map changes on average, improving efficiency by more than 29% as compared to random and patrol strategies.
Latent Iterative Refinement Flow: A Geometric Constrained Approach for Few-Shot Generation
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion and flow-matching models trained with limited data often tend to memorize the training data instead of generalization, leading to severely reduced diversity. In this paper, we provide a dynamical perspective and identify this ``collapse-to-memorization'' phenomenon as a consequence of the \emph{velocity field collapse}, where the learned field degenerates into isolated point attractors and trap the sampling trajectories. Inspired by this novel view, we introduce \textbf{{\BLUE L}atent {\BLUE I}terative {\BLUE R}efinement {\BLUE F}low ({\BLUE LIRF})}, a geometry-aware framework for from-scratch training of diffusion models in the limited-data regime. By exploiting the intrinsic geometry of a semantically aligned latent space, LIRF progressively densifies the training data manifold via a \emph{generation--correction--augmentation} closed loop, thereby effectively resolving the velocity field collapse. Theoretical guarantee on the convergence of this manifold densification procedure is also provided. Experiments on FFHQ subsets and Low-Shot datasets demonstrate the advantageous performance of LIRF over existing diffusion models for limited-data generation, achieving significantly higher diversity and recall, with comparably good generative performance.
GUIDE: A Diffusion-Based Autonomous Robot Exploration Framework Using Global Graph Inference
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we propose GUIDE, a novel exploration framework that synergistically combines global graph inference with diffusion-based decision-making. We introduce a region-evaluation global graph representation that integrates both observed environmental data and predictions of unexplored areas, enhanced by a region-level evaluation mechanism to prioritize reliable structural inferences while discounting uncertain predictions. Building upon this enriched representation, a diffusion policy network generates stable, foresighted action sequences with significantly reduced denoising steps. Extensive simulations and real-world deployments demonstrate that GUIDE consistently outperforms state-of-the-art methods, achieving up to 18.3% faster coverage completion and a 34.9% reduction in redundant movements.
Multimodal-enhanced Federated Recommendation: A Group-wise Fusion Approach
Venue: arXiv cs.IR 2026
Year: 2026

Federated Recommendation (FR) is a new learning paradigm to tackle the learn-to-rank problem in a privacy-preservation manner. How to integrate multi-modality features into federated recommendation is still an open challenge in terms of efficiency, distribution heterogeneity, and fine-grained alignment. To address these challenges, we propose a novel multimodal fusion mechanism in federated recommendation settings (GFMFR). Specifically, it offloads multimodal representation learning to the server, which stores item content and employs a high-capacity encoder to generate expressive representations, alleviating client-side overhead. Moreover, a group-aware item representation fusion approach enables fine-grained knowledge sharing among similar users while retaining individual preferences. The proposed fusion loss could be simply plugged into any existing federated recommender systems empowering their capability by adding multi-modality features. Extensive experiments on five public benchmark datasets demonstrate that GFMFR consistently outperforms state-of-the-art multimodal FR baselines.
From Samples to Scenarios: A New Paradigm for Probabilistic Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Most state-of-the-art probabilistic time series forecasting models rely on sampling to represent future uncertainty. However, this paradigm suffers from inherent limitations, such as lacking explicit probabilities, inadequate coverage, and high computational costs. In this work, we introduce \textbf{Probabilistic Scenarios}, an alternative paradigm designed to address the limitations of sampling. It operates by directly producing a finite set of \{Scenario, Probability\} pairs, thus avoiding Monte Carlo-like approximation. To validate this paradigm, we propose \textbf{TimePrism}, a simple model composed of only three parallel linear layers. Surprisingly, TimePrism achieves 9 out of 10 state-of-the-art results across five benchmark datasets on two metrics. The effectiveness of our paradigm comes from a fundamental reframing of the learning objective. Instead of modeling an entire continuous probability space, the model learns to represent a set of plausible scenarios and corresponding probabilities. Our work demonstrates the potential of the Probabilistic Scenarios paradigm, opening a promising research direction in forecasting beyond sampling.
Practical do-Shapley Explanations with Estimand-Agnostic Causal Inference
Venue: arXiv cs.LG 2026
Year: 2026

Among explainability techniques, SHAP stands out as one of the most popular, but often overlooks the causal structure of the problem. In response, do-SHAP employs interventional queries, but its reliance on estimands hinders its practical application. To address this problem, we propose the use of estimand-agnostic approaches, which allow for the estimation of any identifiable query from a single model, making do-SHAP feasible on complex graphs. We also develop a novel algorithm to significantly accelerate its computation at a negligible cost, as well as a method to explain inaccessible Data Generating Processes. We demonstrate the estimation and computational performance of our approach, and validate it on two real-world datasets, highlighting its potential in obtaining reliable explanations.
HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
Venue: arXiv cs.RO 2026
Year: 2026

Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like. We present Human-Like Inverse Kinematics (HL-IK), a lightweight IK framework that preserves EE tracking while shaping whole-arm configurations to appear human-like, without full-body sensing at runtime. The key idea is a learned elbow prior: using large-scale human motion data retargeted to the robot, we train a FiLM-modulated spatio-temporal attention network (FiSTA) to predict the next-step elbow pose from the EE target and a short history of EE-elbow states.This prediction is incorporated as a small residual alongside EE and smoothness terms in a standard Levenberg-Marquardt optimizer, making HL-IK a drop-in addition to numerical IK stacks. Over 183k simulation steps, HL-IK reduces arm-similarity position and direction error by 30.6% and 35.4% on average, and by 42.2% and 47.4% on the most challenging trajectories. Hardware teleoperation on a robot distinct from simulation further confirms the gains in anthropomorphism. HL-IK is simple to integrate, adaptable across platforms via our pipeline, and adds minimal computation, enabling human-like motions for humanoid robots.
CHOIR: A Chatbot-mediated Organizational Memory Leveraging Communication in University Research Labs
Venue: arXiv cs.HC 2026
Year: 2026

University research labs often rely on chat-based platforms for communication and project management, where valuable knowledge surfaces but is easily lost in message streams. Documentation can preserve knowledge, but it requires ongoing maintenance and is challenging to navigate. Drawing on formative interviews that revealed organizational memory challenges in labs, we designed CHOIR, an LLM-based chatbot that supports organizational memory through four key functions: document-grounded Q\&A, Q\&A sharing for follow-up discussion, knowledge extraction from conversations, and AI-assisted document updates. We deployed CHOIR in four research labs for one month (n=21), where the lab members asked 107 questions and lab directors updated documents 38 times in the organizational memory. Our findings reveal a privacy-awareness tension: questions were asked privately, limiting directors' visibility into documentation gaps. Students often avoided contribution due to challenges in generalizing personal experiences into universal documentation. We contribute design implications for privacy-preserving awareness and supporting context-specific knowledge documentation.
Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and velocity measurement. In this paper, we introduce Equi-RO, an equivariant network-based framework for 4D radar odometry. Our algorithm pre-processes Doppler velocity into invariant node and edge features in the graph, and employs separate networks for equivariant and invariant feature processing. A graph-based architecture enhances feature aggregation in sparse radar data, improving inter-frame correspondence. Experiments on an open-source dataset and a self-collected dataset show Equi-RO outperforms state-of-the-art algorithms in accuracy and robustness. Overall, our method achieves 10.7% and 13.4% relative improvements in translation and rotation accuracy, respectively, compared to the best baseline on the open-source dataset.